Two-tiered organization provides a compact survey lens for autonomous control (AC): an upper tier supports learning, planning, and high-level (HL) mission reasoning, while a lower tier executes feedback control, safety filtering, and platform-specific constraints. This compact survey reviews hierarchical architectures...
Junseo Min, Hoyeong Lee, Hyojun Ahn et al.· International Conference on...· 0 citations
This paper proposes an offline reinforcement learning framework that combines a transformer architecture with conservative Q-learning (CQL) for torpedo evasion of autonomous underwater vehicles (AUVs). Conventional approaches that feed only a single-step observation into a multilayer perceptron (MLP) struggle to captur...
Hyojun Ahn, Hoyeong Lee, Boseon Kang et al.· IEEE Access· 0 citations
Frozen language models (LMs) are increasingly used as fixed feature extractors for downstream reranking, scoring, and preference modeling, raising a practical question: how should a compact module represent interactions among features in a fixed low-dimensional bottleneck? Common linear and low-rank adapters remain lin...
E. Roh, Hyojun Ahn, Hoyeong Lee et al.· 0 citations
This paper proposes SafeGPT, a hierarchical framework that integrates generative pretrained transformer (GPT)-based large language models (LLM) with safe reinforcement learning (safe-RL). SafeGPT addresses the large-scale random multi-point tour problem (RMPT) for multiple unmanned aerial vehicles (UAVs). The target pl...
Hyojun Ahn, Seungcheol Oh, Gyusun Kim et al.· IEEE Transactions on Network...· 0 citations
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